Bobby Rogers, a founding member of the Miracles singing group with Smokey Robinson, has died at his home in suburban Detroit after a long illness.

Rogers, 73, a member of the Motown group that was formed in the mid-1950s with Robinson, Ronnie White and Pete Moore, was a member of the Rock and Roll Hall of Fame and had a star on the Hollywood Walk of Fame.

"He had a sparkling personality that was loved by everyone," Claudette Robinson, Rogers' first cousin, told the Detroit Free Press newspaper. "People always commented on the tall one with the glasses."

Rogers died at his home in Southfield, Michigan.

The Miracles had a string of hits including "The Tears of a Clown," "Going to a Go-Go," "You've Really Got a Hold on Me" and "Tracks of My Tears."